| 李江峰,向凤红.板球系统的最优组合趋近律滑模控制[J].电子测量与仪器学报,2021,35(7):98-105 |
| 板球系统的最优组合趋近律滑模控制 |
| Sliding mode control of optimal combinatorial reachinglaw of ball and plate system |
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| DOI： |
| 中文关键词: 板球系统 滑模控制 Ackermann 公式 趋近律 遗传算法 |
| 英文关键词:ball and plate system sliding mode control Ackermann formula reaching law genetic algorithm |
| 基金项目:国家自然科学基金(61963022)、云南省教育厅科学研究基金(2015Y071)项目资助 |
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| 中文摘要: |
| 针对板球系统轨迹跟踪精度低、震荡大以及实时性差的问题,提出了一种基于遗传算法优化的组合趋近律滑模控制方
案。 首先运用 Ackermann 公式设计的滑模面来表达不连续的超平面;其次,在滑模前期采用指数趋近律来减小抖振幅度,后期
运用变速趋近律使抖振收敛;最后,运用遗传算法来进行参数选定。 实验结果表明,组合趋近律相对变速趋近律起始输出振幅
降低了 2. 2,遗传算法优化后收敛时间较优化前减少了 0. 4 s。 采用 Lyapunov 理论证明了控制器的稳定性,仿真验证了控制策
略具有良好的动态品质和稳态性能,满足板球系统轨迹跟踪要求。 |
| 英文摘要: |
| In order to solve the problems of low tracking accuracy, large oscillation and poor real-time performance of ball and plate
system, a sliding mode control scheme of combinatorial reaching law based on genetic algorithm is proposed. Firstly, the sliding mode
surface designed by Ackermann formula is used to express the discontinuous hyperplane; secondly, the exponential reaching law is used
to reduce the buffeting amplitude in the early stage of the sliding mode, and the variable speed reaching law is used to converge the
buffeting in the later stage. Finally, the genetic algorithm is used to select the parameters. the experimental results show that the initial
output amplitude of the combined reaching law is reduced by 2. 2 compared with the variable speed reaching law, and the convergence
time after genetic algorithm optimization is reduced by 0. 4 s. The stability of the controller is proved by Lyapunov theory, and the
simulation results show that the control strategy has good dynamic quality and steady-state performance, and meets the trajectory tracking
requirements of the ball and plate system. |
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